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<p><code>#include &lt;<a class="el" href="PxArticulationReducedCoordinate_8h_source.html">PxArticulationReducedCoordinate.h</a>&gt;</code></p>
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Collaboration diagram for PxArticulationCache:</div>
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<area shape="rect" id="node2" href="structPxSpatialVelocity.html" title="PxSpatialVelocity" alt="" coords="315,192,441,219"/>
<area shape="rect" id="node3" href="classPxVec3.html" title="3 Element vector class. " alt="" coords="179,5,247,32"/>
<area shape="rect" id="node4" href="structPxArticulationRootLinkData.html" title="PxArticulationRootLinkData" alt="" coords="17,244,198,271"/>
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Public Types</h2></td></tr>
<tr class="memitem:a17beddf109c14739cacb3ddc833ea14e"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14e">Enum</a> { <br />
&#160;&#160;<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea2b507b08dbfaa208d407d857295a857b">eVELOCITY</a> = (1 &lt;&lt; 0), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea9bfa940c74c9da6b9ce0a27c9f6bd8f8">eACCELERATION</a> = (1 &lt;&lt; 1), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea74109d30461c72534eb5a36baf352e6a">ePOSITION</a> = (1 &lt;&lt; 2), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea89efd599f1473d4a795b89fb71c5012a">eFORCE</a> = (1 &lt;&lt; 3), 
<br />
&#160;&#160;<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14eacaf9eee2de38014ce959feb30fba9d1b">eLINKVELOCITY</a> = (1 &lt;&lt; 4), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea1ee0f9a7f94765e59bc93944a434af54">eLINKACCELERATION</a> = (1 &lt;&lt; 5), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea6066321f08d523d0b73cfbdf2b44041c">eROOT</a> = (1 &lt;&lt; 6), 
<a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea86872df915168195ac00a5cb1033ee29">eALL</a> = (eVELOCITY | eACCELERATION | ePOSITION| eLINKVELOCITY | eLINKACCELERATION | eROOT )
<br />
 }</td></tr>
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Public Member Functions</h2></td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a6bcc917d32fa1a60a671283e0a907e5c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSpatialForce.html">PxSpatialForce</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a6bcc917d32fa1a60a671283e0a907e5c">externalForces</a></td></tr>
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<tr class="memitem:a215d7bc2b910aef6ba6e594843d136bc"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a215d7bc2b910aef6ba6e594843d136bc">denseJacobian</a></td></tr>
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<tr class="memitem:a40849b1b079c9b0e517fb7eaea488ccf"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a40849b1b079c9b0e517fb7eaea488ccf">massMatrix</a></td></tr>
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<tr class="memitem:aab37dabd7db43ef927337da7f6ea9f5a"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#aab37dabd7db43ef927337da7f6ea9f5a">jointVelocity</a></td></tr>
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<tr class="memitem:a515142b078989bf5034c5a97b6978c1b"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a515142b078989bf5034c5a97b6978c1b">jointAcceleration</a></td></tr>
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<tr class="memitem:a64e8f0b09d6860f91d7a830c11bdddc9"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a64e8f0b09d6860f91d7a830c11bdddc9">jointPosition</a></td></tr>
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<tr class="memitem:a91adda674694b0f628a07e4ca89bcec5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSpatialVelocity.html">PxSpatialVelocity</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a91adda674694b0f628a07e4ca89bcec5">linkVelocity</a></td></tr>
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<tr class="memitem:ae0431d9e6e127c49cf7cc53532b4b393"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxArticulationRootLinkData.html">PxArticulationRootLinkData</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#ae0431d9e6e127c49cf7cc53532b4b393">rootLinkData</a></td></tr>
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<tr class="memitem:a9df694963228f4ae0c9e58ca9d6bff02"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a9df694963228f4ae0c9e58ca9d6bff02">coefficientMatrix</a></td></tr>
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<tr class="memitem:aa90b660a293d6ce7984d49e8be270465"><td class="memItemLeft" align="right" valign="top">PxReal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#aa90b660a293d6ce7984d49e8be270465">lambda</a></td></tr>
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<tr class="memitem:a237505e945f16c9afddb3c431f9d6a7b"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#a237505e945f16c9afddb3c431f9d6a7b">scratchMemory</a></td></tr>
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<tr class="memitem:ac5356bfc4c7b57dec9bdd33c698ae96c"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#ac5356bfc4c7b57dec9bdd33c698ae96c">scratchAllocator</a></td></tr>
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<tr class="memitem:af8becefcb89c7a26df4372809e31b343"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationCache.html#af8becefcb89c7a26df4372809e31b343">version</a></td></tr>
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<h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a17beddf109c14739cacb3ddc833ea14e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17beddf109c14739cacb3ddc833ea14e">&#9670;&nbsp;</a></span>Enum</h2>

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          <td class="memname">enum <a class="el" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14e">PxArticulationCache::Enum</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea2b507b08dbfaa208d407d857295a857b"></a>eVELOCITY&#160;</td><td class="fielddoc"><p>The joint velocities this frame. Note, this is the accumulated joint velocities, not change in joint velocity. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea9bfa940c74c9da6b9ce0a27c9f6bd8f8"></a>eACCELERATION&#160;</td><td class="fielddoc"><p>The joint accelerations this frame. Delta velocity can be computed from acceleration * dt. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea74109d30461c72534eb5a36baf352e6a"></a>ePOSITION&#160;</td><td class="fielddoc"><p>The joint positions this frame. Note, this is the accumulated joint positions over frames, not change in joint position. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea89efd599f1473d4a795b89fb71c5012a"></a>eFORCE&#160;</td><td class="fielddoc"><p>The joint forces this frame. Note, the application should provide these values for the forward dynamic. If the application is using inverse dynamic, this is the joint force returned. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14eacaf9eee2de38014ce959feb30fba9d1b"></a>eLINKVELOCITY&#160;</td><td class="fielddoc"><p>The link velocities this frame. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea1ee0f9a7f94765e59bc93944a434af54"></a>eLINKACCELERATION&#160;</td><td class="fielddoc"><p>The link accelerations this frame. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea6066321f08d523d0b73cfbdf2b44041c"></a>eROOT&#160;</td><td class="fielddoc"><p>Root link transform, velocity and acceleration. Note, when the application call applyCache with eROOT flag, it won't apply root link's acceleration to the simulation. </p>
</td></tr>
<tr><td class="fieldname"><a id="a17beddf109c14739cacb3ddc833ea14ea86872df915168195ac00a5cb1033ee29"></a>eALL&#160;</td><td class="fielddoc"></td></tr>
</table>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a750cf6f5d426723b6d6cf731bd290ea5">&#9670;&nbsp;</a></span>PxArticulationCache()</h2>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxArticulationReducedCoordinate_8h_source.html">PxArticulationReducedCoordinate.h</a></li>
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